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<h1>jtraj</h1><p><span class="helptopic">Compute a joint space trajectory between two configurations</span></p><p>
[<strong>q</strong>,<strong>qd</strong>,<strong>qdd</strong>] = <span style="color:red">jtraj</span>(<strong>q0</strong>, <strong>qf</strong>, <strong>m</strong>) is a joint space trajectory <strong>q</strong> (MxN) where the joint
coordinates vary from <strong>q0</strong> (1xN) to <strong>qf</strong> (1xN).  A quintic (5th order) polynomial is used
with default zero boundary conditions for velocity and acceleration.
Time is assumed to vary from 0 to 1 in <strong>m</strong> steps.  Joint velocity and
acceleration can be optionally returned as <strong>qd</strong> (MxN) and <strong>qdd</strong> (MxN) respectively.
The trajectory <strong>q</strong>, <strong>qd</strong> and <strong>qdd</strong> are MxN matrices, with one row per time step,
and one column per joint.

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<p>
[<strong>q</strong>,<strong>qd</strong>,<strong>qdd</strong>] = <span style="color:red">jtraj</span>(<strong>q0</strong>, <strong>qf</strong>, <strong>m</strong>, <strong>qd0</strong>, <strong>qdf</strong>) as above but also specifies initial
and final joint velocity for the trajectory.

</p>
<p>
[<strong>q</strong>,<strong>qd</strong>,<strong>qdd</strong>] = <span style="color:red">jtraj</span>(<strong>q0</strong>, <strong>qf</strong>, <strong>T</strong>) as above but the trajectory length is defined
by the length of the time vector <strong>T</strong> (Mx1).

</p>
<p>
[<strong>q</strong>,<strong>qd</strong>,<strong>qdd</strong>] = <span style="color:red">jtraj</span>(<strong>q0</strong>, <strong>qf</strong>, <strong>T</strong>, <strong>qd0</strong>, <strong>qdf</strong>) as above but specifies initial and
final joint velocity for the trajectory and a time vector.

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<h2>See also</h2>
<p>
<a href="qplot.html">qplot</a>, <a href="ctraj.html">ctraj</a>, <a href="SerialLink.jtraj.html">SerialLink.jtraj</a></p>
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